US4400124A - Device for handling stacks of flexible objects - Google Patents

Device for handling stacks of flexible objects Download PDF

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Publication number
US4400124A
US4400124A US06/268,187 US26818781A US4400124A US 4400124 A US4400124 A US 4400124A US 26818781 A US26818781 A US 26818781A US 4400124 A US4400124 A US 4400124A
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US
United States
Prior art keywords
articles
stack
bearing plate
gripping
move
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
US06/268,187
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English (en)
Inventor
Peter Greller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pfaff Industriemaschinen GmbH
Original Assignee
Pfaff Industriemaschinen GmbH
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Filing date
Publication date
Application filed by Pfaff Industriemaschinen GmbH filed Critical Pfaff Industriemaschinen GmbH
Assigned to PFAFF INDUSTRIEMASCHINEN GMBH reassignment PFAFF INDUSTRIEMASCHINEN GMBH ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: GRELLER, PETER
Application granted granted Critical
Publication of US4400124A publication Critical patent/US4400124A/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/02—Pile receivers with stationary end support against which pile accumulates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H31/00—Pile receivers
    • B65H31/30—Arrangements for removing completed piles
    • B65H31/3036—Arrangements for removing completed piles by gripping the pile
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2405/00—Parts for holding the handled material
    • B65H2405/10—Cassettes, holders, bins, decks, trays, supports or magazines for sheets stacked substantially horizontally
    • B65H2405/11—Parts and details thereof
    • B65H2405/111—Bottom
    • B65H2405/1113—Bottom with surface portions curved in width-wise direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/10—Handled articles or webs
    • B65H2701/19—Specific article or web
    • B65H2701/1932—Signatures, folded printed matter, newspapers or parts thereof and books

Definitions

  • This invention relates in general to gripping devices for transferring articles and in particular to a new and useful gripping device for handling stacks of flexible objects such as magazines.
  • the technical problem underlying the invention is to provide a device for handling stacks of flexible objects such as magazines or single sheets, by means of which the stacks can be gripped securely and all objects comprising the stack are treated gently.
  • a gripping mechanism is associated with the bearing plate and includes gripping arms which are movable toward and away from their respective ends of the stacked articles.
  • Each arm contains a holding finger which may be pivotal to a horizontal position to engage beneath each end of the articles for lifting them off the bearing plate or which may be moved to a vertical position for releasing the articles.
  • Gripping arms are advantageously moved by a fluid pressure operated device to move them into engagement or out of engagement with the stack of articles and the holding fingers are advantageously moved by a separately control device which also may be fluid pressure operated.
  • the stack lying on the bearing plate is pre-arched upwardly by the stack forming element.
  • the stack is subsequently gripped by the gripping mechanism in that the clamping jaws move toward each other, the stack is compressed laterally and thereby arched even more in the direction predetermined by the pre-arching operation.
  • This imparts to the individual objects of the stack such an ample stiffness as not to be able to bend through downwardly and fall out of the gripping device.
  • the holding fingers disposed at the lower end of the clamping jaws support the two lower edge areas of the stack, thereby forming an additional safety against the stack falling out of the gripping mechanism. They are particularly expedient whenever the stack is subjected to high vertical acceleration or deceleration forces when being moved from the bearing plate to a remote pallet.
  • the holding fingers may be comparatively short. This limits the contact area between holding fingers and stack underside to a minimum from the start. Shortness of the holding fingers brings yet another advantage, namely that the gripping mechanism may assume a relatively low position over the pallet when depositing the stack so that the stacks are dropped only a short distance when released.
  • the stack forming element is formed by a bar which can be raised beyond the top of the bearing plate.
  • the bar preferably disposed in a central slot in the bearing plate, is retracted so far in its rest position that its top is flush with the top of the bearing plate. The bar is raised only when the stack is completely formed.
  • the stack forming element may be formed by the arched top of the bearing plate so that the individual objects of the stack are pre-arched already when placed on the bearing plate or stack.
  • the holding fingers are pivotable about a horizontal axis and in their rest position are flush with the clamping surface of the clamping jaws. Therefore, since the holding fingers are not retracted in a horizontal plane, but swung outwardly and, hence, downwardly, there is no danger that the possibly still wet printing ink of freshly printed magazines becomes smeared on the bottom side of the lowermost magazine and/or that individual pages are partly pulled along and are creased in the process. Due to the fact that the holding fingers are flush in their rest position with the clamping surface of the clamping jaws, the clamping surface of each clamping jaw forms a selfcontained, flat surface without protrusions and depressions. This eliminates the danger of individual magazines or sheets adhering to the clamping jaws when picking up or depositing a stack.
  • an object of the invention to provide an improved device for lifting flexible articles which includes means for positioning the articles in an arched position so that a stack of the articles become reinforced so that the ends may be subsequently engaged by a gripping mechanism and lifted upwardly.
  • a further object of the invention is to provide a gripping device which includes gripping arms which are movable toward and away from articles which are arranged in an arched stack or deflected into an arched stack and which includes engagement fingers which are pivotal and which may be moved to horizontal positions so as to engage in recesses of the bearing plate on which the articles are stacked and lift them upwardly.
  • a further object of the invention is to provide a gripping device for engaging flexible artices which is simple in design rugged in construction and economical to manufacture.
  • FIG. 1 is a partial elevation and partial sectional view of a gripping mechanism constructed in accordance with the invention taken along the line I--I of FIG. 2;
  • FIG. 2 is a top plan view of the mechanism shown in FIG. 1;
  • FIG. 3 is a partial sectional view taken along the line III--III of FIG. 1;
  • FIG. 4 is a partial view similar to FIG. 1 of another embodiment of the invention.
  • the invention embodied therein comprises a device for gripping a stack of flexible articles such as magazines Z which comprises a bearing plate 1 which is either arched such as the bearing plate 51 in the embodiment of FIG. 4 or may be a flat bearing plate such as the bearing plate 1 in the embodiment of FIG. 1.
  • deflecting means are associated with the bearing plate and in the embodiment of FIG. 1, this comprises a bar 6 which may be elevated at the center of the stack S so as to deflect the center upwardly from each end of the stack of magazines Z; or, surface 52 of the bearing plate 51 may constitute the deflecting means.
  • First and second gripping arms 27 and 27' are mounted on means such as slide plates 13 and 14 for movement in horizontal directions toward the respective ends of the magazine stacks S inwardly to engage against the ends of the stacks for lifting purposes and outwardly to release the stacks.
  • holding fingers 41 are associated with each of the gripping arms and they are movable to horizontal positions to engage beneath the ends of the stacks and to lift the stacks upwardly or they may be moved to vertical positions for releasing the stacks.
  • the device for handling stacks S of flexible objects hereinafter involving magazine Z, consists of a bearing plate 1 carrying the stack S and of a gripping mechanism 2.
  • the bearing plate 1 is fastened at the discharge end of a printing press not shown to a frame 3 and has an oblong slot 4 in its center and several recesses 5 on two opposite sides. Disposed in the guide slot 4 is a bar 6 which is movable up and down and connected to the piston rod 7 of a compressed air cylinder 8 attached to the frame 3. In raised position, the bar 6 serves as forming element for the stack S.
  • the gripping mechanism 2 has a horizontal carrying plate 10 on which a flange 11 is formed, by means of which the gripping mechanism 2 can be fastened to an arm of an operating mechanism (not shown).
  • Fastened to the carrying plate 10 are two mutually parallel guide rods 12, on which are movably mounted one slide 13, 14 each on respective sides of the carrying plate 10.
  • the slide 13 is rigidly connected to a rack 15 and the slide 14 to a rack 16.
  • the two racks 15,16 mesh with a gear 17 mounted on the carrying plate 10 so as to be freely rotatable.
  • the rack 15 is joined to the piston rod 18 of a compressed air cylinder 19 fastened to a vertical leg 20 of a bracket 21.
  • the other, horizontal leg 22 of the bracket 21 is of cylindrical shape and is movably mounted in a chamber 23 in the carrying plate 10.
  • a screw 24, screwed into the carrying plate 10, projects into a guide slot 25 of leg 22, thereby preventing the bracket 21 from turning in the chamber 23.
  • Screwed into the hollow leg 22 is a threaded spindle 26 which is rotatably mounted in the carrying plate 10 and axially fixed.
  • each of the slides 13 and 14 Fastened to the underside of each of the slides 13 and 14 is a respective vertically extending clamping jaw 27 and 27'.
  • the two clamping jaws 27 and 27' are of identical design. They each have a clamping plate 28 which makes contact with the stack S and are reinforced by an upper and a lower rib 29, 30 by sidewalls 31 and by a bottom plate 32.
  • a shaft 34, each penetrating the two ribs 29, 30 and the space 33 between the two ribs 29, 30 is rotatably mounted in each of the clamping jaws 27 and 27'.
  • Fastened to the upper end of each shaft 34 is a crank 35 which is connected to the piston rod 36 of a compressed air cylinder 37 disposed on each respective slide 13 or 14.
  • each shaft 34 Fastened to the lower end of each shaft 34 is a is a bevel gear 38 which meshes with a bevel gear 39.
  • the bevel gears 39 are mounted on a shaft 40, in turn mounted in the respective clamping jaw 27 and 27'.
  • Also mounted on the shaft 40 are several holding fingers 41 which are pivotable between a horizontal and a vertical position. In the vertical position, which is their rest position, the holding fingers 41 are located in recesses 42 of the clamping plates 28 and are flush with the clamping surface of the respective clamping plate 28. In their horizontal position, which is their working position, the holding fingers 41 engage the recesses 5 of the bearing plate 1.
  • an arched bearing plate 51 is fastened to a frame 50. Due to the magazines Z being arched upwardly when being deposited on the bearing plate 51 already, the top 52 of the bearing plate 51 forms a forming element for the magazines Z or the stack S. Recesses 53 are provided in the bearing plate 51 for holding fingers 41 of the gripping mechanism 2 which is the same as the other embodiment and is similraly designated.
  • the device operates as follows:
  • the gripping mechanism is lowered over the stack S.
  • the bar 6 is raised by actuating the compressed air cylinders 8, thereby pre-arching the stack S into the shape shown in FIG. 1.
  • the compressed air cylinder 19 is actuated so that it retracts the piston rod 18. This moves the rack 15 in the same direction as the piston rod and the rack 16 in the opposite direction with the consequence that the slides 13 and 14 and, hence, the clamping jaws 27 move towards each other.
  • the two compressed air cylinders 37 are actuated simultaneously.
  • the motion of the piston rods 36 is transmitted by the cranks 35, the shafts 34 and the bevel gears 38, 39 to the shafts 40, whereby the holding fingers 41 are pivoted out of their rest position into their working position shown in FIGS. 1 and 3. In that position, the holding fingers 41 support the two lowest edge areas of the stack S, thereby keeping the stack S in vertical direction.
  • the stack S is removed from the bearing plate 1 or 51 by moving the gripping mechanism 2 upwardly.
  • the gripping mechanism 2 is moved down so far that the bottom plates 32 of the clamping jaws 27 are seated on the base (not shown) receiving the stack S, said base involving, for example, a pallet or stacks already deposited earlier.
  • the holding fingers 41 are first swung back into their vertical or rest position and the clamping jaws 27 subsequently moved away from each other, whereupon the stack S drops out of the gripping mechanism 2.
  • the magazines Z are already pre-arched when stacked on the bearing plate 51 and that by the same amount by which the stack S is pre-arched in the first embodiment by the upward motion of the bar 6. In this case, therefore, pre-arching while or immediately before the stack S is being picked up is eliminated so that the time required to pick up a stack may, under circumstances, be shorter than in the first embodiment.
  • the gripping mechanism 2 must be adjusted to the new width.
  • the threaded spindle 26 is turned appropriately, thereby moving the bracket 21 relative to the carrying plate 10.
  • the shifting motion of the bracket 21 is transmitted to the slide 13 via the compressed air cylinder 19, the piston rod 18 and the rack 15. Due to the corotation of the gear 17, the shifting motion of the bracket 21 is also transmitted to the rack 16 and the slide 14 to the same degree, but in opposite direction. In this manner, the two clamping jaws 27 are moved evenly towards or away from each other into a starting position suitable for the new width of the stack S.
  • This setting motion does not affect the stroke length of the compressed air cylinder 19 so that the travel of each individual clamping jaw 27 is always the same when opening or closing the gripping mechanism 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Pile Receivers (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Manipulator (AREA)
US06/268,187 1980-06-27 1981-05-29 Device for handling stacks of flexible objects Expired - Fee Related US4400124A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19803024112 DE3024112A1 (de) 1980-06-27 1980-06-27 Einrichtung zum handhaben von stapeln flexibler gegenstaende, z.b. zeitschriften
DE3024112 1980-06-27

Publications (1)

Publication Number Publication Date
US4400124A true US4400124A (en) 1983-08-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
US06/268,187 Expired - Fee Related US4400124A (en) 1980-06-27 1981-05-29 Device for handling stacks of flexible objects

Country Status (3)

Country Link
US (1) US4400124A (ja)
JP (1) JPS5713051A (ja)
DE (1) DE3024112A1 (ja)

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4941654A (en) * 1985-06-29 1990-07-17 Dennison Manufacturing Company Method and apparatus for stacking apertured sheets without jamming
US5141274A (en) * 1988-02-09 1992-08-25 Galpin Research, Limited Partnership Apparatus for grasping and handling cubes of stacked printed products
US5252024A (en) * 1991-11-04 1993-10-12 General Motors Corporation Transfer method for various sizes of assemblies
US5460479A (en) * 1990-04-19 1995-10-24 Neumann; Irving H. Signature stacking machine
US5605528A (en) * 1995-01-23 1997-02-25 Output Technology Corporation Paper collector with resilient paper support assembly for facilitating refolding and restacking fanfold paper discharged from a continous form printer or the like
US5686950A (en) * 1994-05-09 1997-11-11 Canon Kabushiki Kaisha Mounting device and a recording apparatus including the same
US5984299A (en) * 1997-03-06 1999-11-16 Konica Corporation Sheet finishing apparatus
US20030140389P1 (en) * 2002-01-22 2003-07-24 May James D. Chrysanthemum plant named 'jmay01'
US20050212196A1 (en) * 2004-03-29 2005-09-29 Eastman Kodak Company Adjustable sheet feeder for adjusting sheet stack center relative to sheet stack edges
US20060261536A1 (en) * 2005-05-20 2006-11-23 Dangelewicz John A Sheet handling
US20060280590A1 (en) * 2004-02-17 2006-12-14 Reiner Hannen Device and method for aligning a good, which can be easily deformed at least in the area of the lower outer edges, on a transport support
US20080264520A1 (en) * 2007-04-24 2008-10-30 Meinan Machinery Works, Inc. Method of holding a veneer sheet
US20090175707A1 (en) * 2008-01-03 2009-07-09 Bonora Anthony C Controlled deflection of large area semiconductor substrates for shipping and manufacturing containers
US20110305553A1 (en) * 2009-03-06 2011-12-15 Grohmann Engineering Gmbh Method and Device for Stacking
US20120171008A1 (en) * 2009-09-04 2012-07-05 Tetra Laval Holdings & Finance S.A. Gripping head and a method of transferring a number of packages
US20120274018A1 (en) * 2011-03-31 2012-11-01 Kugler-Womako Gmbh Stacker
US8921631B2 (en) 2008-12-18 2014-12-30 Saudi Basic Industries Corporation Selective catalytic hydrogenation of alkynes to corresponding alkenes
US20160122141A1 (en) * 2014-10-31 2016-05-05 Kyocera Document Solutions Inc. Paper feed device and paper feed method
US9878453B2 (en) 2005-07-08 2018-01-30 Brooks Automation, Inc. Workpiece structures and apparatus for accessing same
US10112273B2 (en) * 2015-02-06 2018-10-30 Hidaka Seiki Kabushiki Kaisha Apparatus for taking out flattened tube fins
US11642795B1 (en) * 2017-07-31 2023-05-09 Amazon Technologies, Inc. Compliant finger tip for item manipulation

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5880136A (ja) * 1981-11-02 1983-05-14 Fuji Photo Film Co Ltd 磁気記録材料の製造方法
DE3517898C2 (de) * 1984-05-19 1999-05-20 Canon Kk Aufzeichnungsgerät
DE3907332A1 (de) * 1988-12-31 1990-07-05 System Gmbh Greifvorrichtung
DE58902900D1 (de) * 1988-12-31 1993-01-14 System Gmbh Greifvorrichtung.
DE4000263A1 (de) * 1990-01-03 1991-07-04 System Gmbh Vorrichtung zum richten von stapeln
DE19626802A1 (de) * 1996-07-03 1998-01-08 Gaemmerler Hagen Stapelgreifer
DE19628129B4 (de) * 1996-07-12 2004-10-21 Kolbus Gmbh & Co. Kg Stapelauslage zum senkrechten Stapeln von fortlaufend herangeführten, flachliegenden biegsamen Produkten

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2198652A (en) * 1937-08-05 1940-04-30 Cullen Friestedt Company Sheet lifter
US2735713A (en) * 1956-02-21 blakeley
US3086808A (en) * 1960-11-03 1963-04-23 Cullen Friestedt Company Leg assembly for coil lifters
DE1481862A1 (de) * 1967-02-18 1969-08-21 Rohrwerke Bitterfeld Veb Verfahren und Einhaengevorrichtung zum gleichzeitigen Verladen von zylindrischen Hohlkoerpern,insbesondere von nebeneinanderliegenden isolierten Rohren
US3655232A (en) * 1968-06-20 1972-04-11 Ghislain Antoine Jean Marie Ma Gripper for handling heavy products and specifically horizontal-axis coils
US3761080A (en) * 1971-05-21 1973-09-25 Jeddeloh Bros Sweed Mills Inc Sheet stacking apparatus
GB2017622A (en) * 1978-04-04 1979-10-10 Voest Alpine Ag Apparatus Whereby Flexurally Soft Sheets Supplied Individually can be Deposited in a Specific Position

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
US2687301A (en) * 1949-05-24 1954-08-24 Gardner Board & Carton Co Device for handling printed sheets
JPS5532217Y2 (ja) * 1975-03-10 1980-07-31
JPS5582246U (ja) * 1978-11-29 1980-06-06

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2735713A (en) * 1956-02-21 blakeley
US2198652A (en) * 1937-08-05 1940-04-30 Cullen Friestedt Company Sheet lifter
US3086808A (en) * 1960-11-03 1963-04-23 Cullen Friestedt Company Leg assembly for coil lifters
DE1481862A1 (de) * 1967-02-18 1969-08-21 Rohrwerke Bitterfeld Veb Verfahren und Einhaengevorrichtung zum gleichzeitigen Verladen von zylindrischen Hohlkoerpern,insbesondere von nebeneinanderliegenden isolierten Rohren
US3655232A (en) * 1968-06-20 1972-04-11 Ghislain Antoine Jean Marie Ma Gripper for handling heavy products and specifically horizontal-axis coils
US3761080A (en) * 1971-05-21 1973-09-25 Jeddeloh Bros Sweed Mills Inc Sheet stacking apparatus
GB2017622A (en) * 1978-04-04 1979-10-10 Voest Alpine Ag Apparatus Whereby Flexurally Soft Sheets Supplied Individually can be Deposited in a Specific Position

Cited By (29)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4941654A (en) * 1985-06-29 1990-07-17 Dennison Manufacturing Company Method and apparatus for stacking apertured sheets without jamming
US5141274A (en) * 1988-02-09 1992-08-25 Galpin Research, Limited Partnership Apparatus for grasping and handling cubes of stacked printed products
US5460479A (en) * 1990-04-19 1995-10-24 Neumann; Irving H. Signature stacking machine
US5252024A (en) * 1991-11-04 1993-10-12 General Motors Corporation Transfer method for various sizes of assemblies
US5686950A (en) * 1994-05-09 1997-11-11 Canon Kabushiki Kaisha Mounting device and a recording apparatus including the same
US5605528A (en) * 1995-01-23 1997-02-25 Output Technology Corporation Paper collector with resilient paper support assembly for facilitating refolding and restacking fanfold paper discharged from a continous form printer or the like
US5984299A (en) * 1997-03-06 1999-11-16 Konica Corporation Sheet finishing apparatus
US20030140389P1 (en) * 2002-01-22 2003-07-24 May James D. Chrysanthemum plant named 'jmay01'
US7670100B2 (en) * 2004-02-17 2010-03-02 Msk-Verpackungs-Systeme Gesellschaft Mit Beschrankter Haftung Aligning a stack on a pallet or the like
US20060280590A1 (en) * 2004-02-17 2006-12-14 Reiner Hannen Device and method for aligning a good, which can be easily deformed at least in the area of the lower outer edges, on a transport support
US7464925B2 (en) * 2004-03-29 2008-12-16 Eastman Kodak Company Adjustable sheet feeder for adjusting sheet stack center relative to sheet stack edges
US20050212196A1 (en) * 2004-03-29 2005-09-29 Eastman Kodak Company Adjustable sheet feeder for adjusting sheet stack center relative to sheet stack edges
US7597319B2 (en) * 2005-05-20 2009-10-06 Hewlett-Packard Development Company, L.P. Sheet handling using a ramp and grippers on an endless belt
US20060261536A1 (en) * 2005-05-20 2006-11-23 Dangelewicz John A Sheet handling
US9878453B2 (en) 2005-07-08 2018-01-30 Brooks Automation, Inc. Workpiece structures and apparatus for accessing same
US20080264520A1 (en) * 2007-04-24 2008-10-30 Meinan Machinery Works, Inc. Method of holding a veneer sheet
US7946321B2 (en) * 2007-04-24 2011-05-24 Meinan Machinery Works, Inc. Method of holding a veneer sheet
US20090175707A1 (en) * 2008-01-03 2009-07-09 Bonora Anthony C Controlled deflection of large area semiconductor substrates for shipping and manufacturing containers
US8921631B2 (en) 2008-12-18 2014-12-30 Saudi Basic Industries Corporation Selective catalytic hydrogenation of alkynes to corresponding alkenes
US8870518B2 (en) * 2009-03-06 2014-10-28 Grohmann Engineering Gmbh Method and device for stacking
US20110305553A1 (en) * 2009-03-06 2011-12-15 Grohmann Engineering Gmbh Method and Device for Stacking
US8807913B2 (en) * 2009-09-04 2014-08-19 Tetra Laval Holdings & Finance Sa Gripping head
US20120171008A1 (en) * 2009-09-04 2012-07-05 Tetra Laval Holdings & Finance S.A. Gripping head and a method of transferring a number of packages
US20120274018A1 (en) * 2011-03-31 2012-11-01 Kugler-Womako Gmbh Stacker
US8991810B2 (en) * 2011-03-31 2015-03-31 Kugler-Womako Gmbh Stacker
US20160122141A1 (en) * 2014-10-31 2016-05-05 Kyocera Document Solutions Inc. Paper feed device and paper feed method
US9573778B2 (en) * 2014-10-31 2017-02-21 Kyocera Document Solutions Inc. Paper feed device and paper feed method
US10112273B2 (en) * 2015-02-06 2018-10-30 Hidaka Seiki Kabushiki Kaisha Apparatus for taking out flattened tube fins
US11642795B1 (en) * 2017-07-31 2023-05-09 Amazon Technologies, Inc. Compliant finger tip for item manipulation

Also Published As

Publication number Publication date
DE3024112A1 (de) 1982-02-04
JPS5713051A (en) 1982-01-23
JPS6410428B2 (ja) 1989-02-21

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